Ryu Anzawa / sample

sample

Dependents:   wheel_test6

Diff: sample02.cpp

Revision:
3:8d1778dbf580
Parent:
2:b51bb221438a
Child:
4:3eefc20c8312
Child:
6:1e1adccfb69a
--- a/sample02.cpp	Tue Jul 09 08:44:22 2019 +0000
+++ b/sample02.cpp	Thu Jul 11 08:25:18 2019 +0000
@@ -36,11 +36,10 @@
         
     } else if (nowDis >= accdis && nowDis < accdis+middledis) {
         vector = maxspeed;
-    } else if (nowDis > (accdis+middledis)) {
+    } else if (nowDis > (accdis+middledis) && nowDis <= targetDis) {
         
-        counter = sqrt(2.0*accsec/maxspeed*fabs(targetDis-nowDis));
-        vector = (-1.0 * sin((2.0*PI/accsec)*counter) + (2.0*PI/accsec)*counter) / (2.0*PI/maxspeed);
-        
+        counter = sqrt(2.0*decsec/maxspeed*fabs(targetDis-nowDis));
+        vector = (-1.0 * sin((2.0*PI/decsec)*counter) + (2.0*PI/decsec)*counter) / (2.0*PI/maxspeed)*0.9;
     }
     /***/
 }